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【问题】:step函数返回的最后一项{}是什么?我自己跑了一下,传出来的是空白字典,请问为啥要设置这个输出?
- def step(self, action):
- assert self.action_space.contains(action), "%r (%s) invalid"%(action, type(action)) #用于判断一个表达式,在表达式条件为 false 的时候触发异常。
- state = self.state
- x, x_dot, theta, theta_dot = state #设置状态
- force = self.force_mag if action==1 else -self.force_mag
- costheta = math.cos(theta)
- sintheta = math.sin(theta)
- temp = (force + self.polemass_length * theta_dot * theta_dot * sintheta) / self.total_mass
- thetaacc = (self.gravity * sintheta - costheta* temp) / (self.length * (4.0/3.0 - self.masspole * costheta * costheta / self.total_mass))
- xacc = temp - self.polemass_length * thetaacc * costheta / self.total_mass
- if self.kinematics_integrator == 'euler':
- x = x + self.tau * x_dot
- x_dot = x_dot + self.tau * xacc
- theta = theta + self.tau * theta_dot
- theta_dot = theta_dot + self.tau * thetaacc
- else: # semi-implicit euler
- x_dot = x_dot + self.tau * xacc
- x = x + self.tau * x_dot
- theta_dot = theta_dot + self.tau * thetaacc
- theta = theta + self.tau * theta_dot
- self.state = (x,x_dot,theta,theta_dot)
- done = x < -self.x_threshold \
- or x > self.x_threshold \
- or theta < -self.theta_threshold_radians \
- or theta > self.theta_threshold_radians
- done = bool(done)
- if not done:
- reward = 1.0
- elif self.steps_beyond_done is None:
- # Pole just fell!
- self.steps_beyond_done = 0
- reward = 1.0
- else:
- if self.steps_beyond_done == 0:
- logger.warn("You are calling 'step()' even though this environment has already returned done = True. You should always call 'reset()' once you receive 'done = True' -- any further steps are undefined behavior.")
- self.steps_beyond_done += 1
- reward = 0.0
- return np.array(self.state), reward, done, {}
复制代码
这个返回值是为了调用设计的。因为传入了空字典,相当于没有设置调试项,但是step ()必须把四个参数都返回才能被正确调用,调用后程序就是看你返回的四个东西来进行操作。
即调用step()方法的东西 规定step()必须给我返回四个东西,调试项不管有没有先返回再说。
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